Gimbaled handle stabilizing controller assembly

ABSTRACT

A stabilizing controller to balance, support and orient a device. The stabilizing controller includes a gimbal assembly positioned at the center of balance of the stabilizing controller with the device attached, A handle is disposed around the gimbal assembly. A center post is coincident with at least a portion of the centerline of the gimbal apparatus and has a longitudinal balancing axis Z. Motion about at least one of the mutually perpendicular X-axis, Y-axis, and the Z-axis is isolated from the motion of the other axes via one or more assemblies comprising resilient components.

This application is a continuation of U.S. patent application Ser. No.12/899,084, filed Oct. 6, 2010, which claims priority to U.S.provisional applications 61/249,419, filed Oct. 7, 2009 and 61/292,322,filed Jan. 5, 2010, all aforementioned applications of which areincorporated herein by reference.

BACKGROUND OF THE INVENTION

This invention relates generally to equipment stabilizing controllerassemblies, and is applicable to image capture devices.

Mobile film or video cameras typically require angular and spatialstability in order to obtain smooth, high-quality results.

The original Steadicam® portable camera stabilizing device, which hasbecome a standard in the TV and movie industry, was invented by GarrettBrown, co-inventor of the present invention, and developed to permitstable videography or cinematography by an ambulatory operator. Thetrademark Steadicam® continues to be used to identify variousstabilizers, not all of which necessarily constitute prior art.

FIG. 1 is a side elevation showing a prior art camcorder stabilizer 1and camcorder 2 with its associated handle 5 and gimbal assembly 45balanced so that the center of gravity of the entire structure islocated just below the center of gimbal 45. In this prior artconfiguration, gimbal assembly 45 is above handle 5. Handle 5 andgripping surfaces 41, 42 are shown being held by three fingers of theoperator's hand, while the thumb and index finger lightly contact the‘guide’ surfaces 40 and 46. Note that two hands can also be employed:one holding the handle for support and the thumb and two fingers of theother hand lightly contacting the guide surfaces 40, 46. Arcuate upperand lower support structures 6 and 11 position counterweights 10, 12 sothat the center of balance of stabilizer 1 is located approximately ator just below the center of gimbal assembly 45. This arcuate structureis necessary because the interrupted handle and gimbal, as positioned inthe configuration shown, cannot accommodate a central post forpositioning counterweight masses at selected distances directly belowthe gimbal.

FIG. 2 is a frontal elevation of gimbal assembly 45 showing outer gimbalring structure 56, associated gimbal ring 57, post assembly 58 and panbearings 59 a,b. which provide three axes of rotational isolation fromhandle and gripping surfaces 41, 42. Guide surfaces 40 and 46, justabove and surrounding gimbal 45, provide surfaces that can be engaged byan operator's thumb and forefingers to delicately control and orient theapparatus.

FIG. 10 is an isometric elevation of another prior art stabilizer 50.This stabilizer has a center post 71 that passes through the center of agimbal apparatus 77. A handle 75 is disposed along the side of centerpost 71. A camera 80 is counterbalanced by weights 82, 83, which arepositioned on mounting structure 85.

What is needed is a novel handle-and-gimbal combination that permitseven an untrained operator to immediately produce stable and elegantcamera moves without experience, practice or special aptitude, and whichcontrols some of the abrupt motions imparted to image-capture devices byinexperienced users.

SUMMARY OF THE INVENTION

Embodiments of the invention may reverse the logic of prior-art camerastabilizer gimbals and move the pan axis bearing from its historicalinnermost position among the three axes of isolation, to a novelposition separated from the other two gimbal rings. Now, the axes ofthese two gimbal rings can be oriented to conform to the axes of cameratilt and roll. Resilient, dampening or biasing means can now be appliedto operate around any or all of these pan, roll or tilt axes of rotationto bias the orientation of the camera stabilizer to a particularposition with respect to a particular axis. The term “control” and formsthereof will be used herein to include bias and/or dampen and formsthereof. The resilient components can also be contoured to include a‘dead band’ and any desired curve or degree of resilience or dampeningforce appropriate to the weight and inertia of the camera and stabilizerstructure.

In an illustrative embodiments of the invention, a handle disposed atleast partially around a gimbal apparatus wherein the handle isrotationally isolated from the gimbal apparatus, for example by abearing apparatus. The innermost gimbal ring is attached via a sleeve toa central mounting post which is fixedly attached to thecamera/stabilizer assembly above, and may optionally be attached to acounter-weighting structure below.

At least one resilient control component is provided to influencerotation in at least one of the three axes, such as by dampening orbiasing motion. This influence or control will inhibit or prohibitrotational motion about one or more of three mutually perpendicularaxes. It can dampen rotational motion or bias it to a certain position.This resilient component may be arranged to provide a small angular‘dead band’ to prevent unintentional rotations due to the instability ofthe human hand.

The resilient component may comprise springs or compliant materialsegments such as foam, air bladders or an elastic polymer such asSorbathane®. Magnets may also be incorporated into the apparatus toprovide a control effect. The resilient material may be attached, forexample, to the outer race of the gimbal assembly and positioned to becontacted by mechanical extensions of the inner race, to bias the camerain the pan axis when the handle is rotated sufficiently. Various otherconfigurations, will be described herein, that accomplish control in thepan, tilt or roll axes.

Embodiments of the invention can provide a hand-held controller that maybe particularly suitable for small and ultra-small imaging devices.

DESCRIPTION OF THE DRAWINGS

The invention is best understood from the following detailed descriptionwhen read in conjunction with the accompanying drawings.

FIG. 1 is a side elevation of a prior art camcorder stabilizer.

FIG. 2 is cutaway elevation of the prior art gimbal structure of FIG. 1.

FIG. 3 is a semi-transparent view of a handle and gimbal assemblyaccording to an illustrative embodiment of the invention.

FIG. 4 is a cutaway view of a handle and gimbal assembly according to anillustrative embodiment of the invention.

FIG. 5 is a top view of a gimbal assembly according to an illustrativeembodiment of the invention.

FIG. 6 is an isometric cutaway view of a combined gimbal and handleassembly according to an illustrative embodiment of the invention.

FIG. 7 is a cutaway elevation of the gimbal assembly of FIG. 6 accordingto an illustrative embodiment of the invention.

FIG. 8 is an isometric view of the gimbal assembly of FIG. 6 accordingto an illustrative embodiment of the invention.

FIG. 9 is an exploded isometric view of the components of a handle andgimbal assembly according to an illustrative embodiment of theinvention.

FIG. 10 is an isometric elevation of a prior art hand-supported camerastabilizer with its center post passing through its gimbal.

FIG. 11 is an isometric view of a handle and gimbal assembly havingcounterweight masses according to an illustrative embodiment of theinvention.

FIG. 12 is an isometric view of a handle and gimbal assembly withdashpot-type shock absorbers according to an illustrative embodiment ofthe invention.

FIG. 13 depicts a stabilizing support system according to anillustrative embodiment of the invention.

FIG. 14 depicts a stabilizing support system according to anillustrative embodiment of the invention.

FIGS. 15A-B depict a foldable balancing support structure according toan illustrative embodiment of the invention.

FIG. 16 depicts a handle and gimbal assembly according to anillustrative embodiment of the invention.

FIGS. 17A-B depict a foldable balancing support structure according toan illustrative embodiment of the invention.

FIGS. 18A-B depict a gimbal and handle assembly according to a furtherillustrative embodiment of the invention.

FIGS. 19A-B depict a cross-sectional view of the gimbal and handleassembly of FIGS. 18A-B according to a further illustrative embodimentof the invention.

FIG. 20 depicts resilient components of the gimbal and handle assemblyof FIG. 19.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 3 is a semi-transparent view of a combination gimbal/handleassembly 300, according to an illustrative embodiment of the invention.The assembly can be configured to be particularly suitable for heavypayloads, but can also be used for lightweight payloads. Camera platformmounting interface 335 attaches center post 309 to a camera mountingplatform, such as a platform adjustable along its perpendicular X-Y topsurface axes, or a non-adjustable platform. The platform can also beadjustable along the Z-axes, which is mutually perpendicular to the Zaxis. Spacer 327 a,b positions gimbal assembly 301 (including postmounting sleeve 303, gimbal ring 302, and outer gimbal ring 304(identified in FIG. 5) at the center of balance of the entirecamera/stabilizer structure (see FIGS. 13-15 for illustrativestructures). The gimbal assembly is connected to the inner racecomponent of pan bearing 307. The outer race component of bearing 307 isattached to handle 306 (rendered transparently). An outer gimbal ring304 is mounted to an inner pan bearing race component of pan bearing 307is attached at attachment points 305 a,b to pan biasing resilient means(such as springs) 319 a,b, which terminate at handle flange 325,preferably opposite one another. Within the limits of its travel (ascurtailed by contact with the inner surface of handle 306), post 309 isisolated in the tilt and pan axes from motions of handle 306. Rotationalmotions applied to handle 306 twist resilient means 319 a,b and biasonly the subsequent rotation with respect to post 309. The ‘rate’,meaning the degree of force required to effect a given deflection, ofresilient means 319 a,b can be selected as appropriate for the mass andinertia of the stabilizer components being rotationally biased by handle306, yet still preserve the ‘dead band’ of little or no rotationalinfluence when the springs 319 a,b are substantially or entirelyrelaxed.

Tilting and/or rolling motions can be imparted to the attitude of post309 by, for example, employing the operator's second hand for contactwith bearing assembly 320. This allows post 309 to rotate within bearingassembly 320 while limited or prohibiting post 309 to tilt or roll. Suchmotions bias only the tilt and/or roll axes and do not influence thecamera/stabilizer's orientation in the pan axis.

Motion of handle 306 in the pan axis with respect to post 309 can bestopped by pushing button 318 to engage with outer gimbal ring 304.Spring 326 biases button 318 in a non-engaged position. This permitspanning motions without the biasing of springs 319 a,b for the timeperiod for which button 318 is depressed. Other mechanisms such asvarious, levers, brakes, or the like that can fix the position of thehandle with respect to the center post or other component with respectto which it has relative rotational motion, can be used to accomplishwhat button 318 does.

FIG. 4 is a cutaway view of a combination gimbal/handle assembly 400,according to an illustrative embodiment of the invention. The assemblyparticularly useful for light payloads. For light payloads, use of abearing assembly such as 320 shown in FIG. 3 and described above, toimpart tilting and rolling motions to post 309 would likely over-controlthe orientation of lighter camera/stabilizer payloads, because the grossmotions of the second hand would not be opposed (and dampened) by theinertia of the heavier payload. Illustrative embodiment 400 is similarin many respects to gimbal/handle assembly 300, but includes analternate means for resiliently damping angular displacements about thetilt and roll axes imparted directly to handle 306. Rotation of outerpost tube 421 is isolated from post 309 by means of bearings 428 a,b.Tilting and/or rolling motions of handle 306 bring tube 421 in contactwith tilt/roll resilient bumper ring 412, which subsequently affects thetilt or roll angle of post 309 without permitting influence on its panorientation. Likewise, panning motions imparted to handle 306 do notinfluence the tilt or roll axes positions of post 309 because suchmotions are not transmitted because of rotating tube 421.

Note the location of two-axis gimbal assembly 301 in FIG. 3 and FIG. 4at the approximate middle of handle 306. The gimbal assembly's placementat a greater distance from the camera mounting interface 335 compared toprior art stabilizers, requires additional counterweight below in orderto position the center of balance of the entire structure, as istypical, at the pivoting center of two-axis gimbal assembly 301.

FIG. 5 is a top perspective view of the two-axis gimbal assembly 301according to an illustrative embodiment of the invention, such as can beused in gimbal/handle assemblies 300 and 400. Post mounting sleeve 303,which surrounds, and is locked to and positioned with respect to, post309 by spacers 327 a,b and locknut 429. Sleeve 303 is rotationallyconnected to gimbal ring 302 by trunnions 503 a,b. Inner ring 302 isconnected to outer gimbal ring 504, preferably by trunnions. The gimbalassembly permits near frictionless rotation around two axes which arepreferably registered (locked) to the two ‘camera operating’ axes oftilt and pan for an attached camera payload. Resilient biasing means 319a,b (shown in FIGS. 3 and 4) are attached to outer gimbal ring 504 atattachment points 305 a,b. Resilient biasing means 319 a,b are furtherattached to handle 306 in order to bias the orientation of the pan axisas handle 306 is rotated.

FIGS. 6-8 depict a combination handle/gimbal assembly according to anillustrative embodiment of the invention. FIG. 6 is an isometric cutawayview of a combined gimbal and handle assembly 600 according to anillustrative embodiment of the invention that may be suitable for lightand ultra-light payloads. FIG. 7 is a cutaway elevation of the gimbalassembly of FIG. 6 showing the center-post tilted with respect to theorientation of the outer handle. FIG. 8 is an isometric view of thegimbal assembly of FIG. 6, with the means for biasing rotations in thepan axis exposed to view. A two-axis gimbal assembly 601 is positionednear the top of center post 609 and as close as possible to cameramounting interface 635, to minimize the counterweight needed below toposition the center of balance of the extended payload masses at theapproximate center of two-axis gimbal 601. Inner sleeve 603 is locked inposition, for example, along a threaded section of post 609, and isregistered to the orientation of the camera payload by means of spacers627 and locknut 629.

Gimbal assembly 601, is similar to assembly 301 shown in FIGS. 3-5,however, outer gimbal ring 304 has been extended downward to form tube608. The term “tube” as used herein does not necessarily indicate acylindrical hollow form, but includes non-circular cross-sectionalshapes. Tube 608 is connected to the inner race component of pan bearing607. Tilt-roll bumper ring 612 is disposed within tube 608, eitherwholly or partially. Since tube 608 and bumper ring 612 are fixed withrespect to two-axis gimbal 601 and post 609, contact between spacer 627and bumper ring 612 generally will not cause a bias in the pan axis, norwill panning motion of handle 606 bias a rotation of post 609. (Thiseliminates or reduces the need for rotating tube 421 as shown in FIG.4.).

Pan resilient pads 611 a,b are attached by mounting screws 624 withinhandle flange 625. Pan paddle ring 610 is attached to tube 608 bymounting screws 613, and contains at least one paddle 626 a extendingradially from paddle ring 610. Because resilient pads 611 a,b areattached to handle 625, paddle ring 610 will inhibit rotation of handleflange 625 when resilient pads 611 a,b come into contact with it. Whenno panning rotation occurs or is desired, paddles 626 a aresubstantially stationary within the gaps between resilient pads 611 a,b.Rotational displacement of handle 606 in the pan axis, however, causesresilient pads 611 a,b to come into increasingly forceful contact withpaddle 626, thereby biasing rotation of the payload in the pan axis.Although two sections of resilient pad 611 a,b are shown in FIG. 6,various numbers of pads may be used, and various numbers of paddles. Asingle resilient pad is within the scope of the invention, with a singlegap, within which a paddle is disposed.

Generally, the lighter the payload, the more compliant (the smaller the‘rate’) the resilient pads should be to provide the desired biasing.Edges of resilient pads 611 or of the paddles 626 a,b, can be angled orbeveled to reduce the initial contact area between the pads and paddles;Thus, even with light payloads and stabilizers having negligibleinertial moments, the natural vibrations inherent in manual control willnot unintentionally bias the rotation to an undesirable degree.

A slot 614 handle 606 allows the operator's third finger, for example,to be pressed through handle 606 to contact the outer surface of tube608 in order to prevent or reduce movement of tube 608 with respect tohandle 606, thus prohibiting, or impeding motion about the pan axis.This can make possible sudden, or even violent panning motions thatwould otherwise be dampened by the rotational control mechanismscontained in the apparatus.

FIG. 7 is a cutaway elevation of the combined gimbal/handle assembly ofFIG. 6 illustrating the independent biasing of the tilt and/or roll axiscaused by tilting handle 606 so that spacer 627 a pushes againstresilient bumper ring 612. Configurations wherein spacer 627 is absent,or is segmented are also possible. The force opposing the movement ofcenter post 609 or spacer 627 resulting from contact with bumper 612 canbe progressive, as the resilient material of bumper 612 is compressed.The foam or other resilient material can be cut or molded or positionedto provide various desired progressions of forces (curve of forceapplication). These forces can be created so that angular displacementof handle 606 relative to post 609 is dampened or cushioned againstunwanted vibrations imparted by the human hand. Foam, for instance, andother non-bouncy materials like Sorbothane® can be selected andmolded/formed to create the desired control, for example by impartingdampening or biasing effects. FIGS. 6 and 7 show a conical shaped bumper612, which can reduce bouncing motions that would otherwise make tiltingand holding a tilted position more difficult. As described above, bumper612 can have various configurations. It need not extend the length ofhandle 606 below the gimbal apparatus 601, but can be, for example, aring or segment of a ring disposed within the inner diameter of aportion of the length of the handle. Factors, such as desired biasingand dampening, and cost can be weighed in deciding on the most desirablebumper configuration. Resilient bumper material can make tilting actionseasier than with prior-art gimbals.: Prior art stabilizers requiredcareful ‘trimming’ (balancing) so that the hand did not need to applycontinuous force to maintain a desired angle of tilt and/or roll. Thiswas necessary because the human hand has difficulty exerting smallconsistent forces that are often required to maintain a given tilt anglefor certain support apparatuses and payloads. For illustrativeembodiments of the invention, handle 606 can be held with variousdegrees of firmness, for example as may be most comfortable for theoperator, because angular irregularities due to the vibrations of thehuman hand may be averaged out while the stabilizer is casually tilted.Therefore, employing certain embodiments of the gimbal/handlecombination, may reduce the degree of skill and level of concentrationrequired in order to produce effectively stabilized results whilewalking, running, climbing stairs or merely standing still. Instead of‘trimming’ the balance of the camera to the exact tilt angle required byany given shot, the operator may be able to merely hold his hand at theaverage angle desired, and just keep it generally upright to stay levelin the roll axis!—an operation that is much more delicate and criticalwith prior-art gimbals.

Providing a bumper 612 within tube 608 rather than having it affixed tothe handle (such as 306 as shown in FIG. 4) has at least two advantages.First, an outer tube (such as part 421 shown in FIG. 4) is no longerrequired to isolate the center post (such as 309) from contact withresilient pad 612 (412 in FIG. 4) during panning motions, because handle606 is rotationally isolated from center post 609 by tube 608. Bumper612 remains registered to the tilt and roll axes, because it isstationary with respect to tube 608. Therefore, bumper 612 can becontoured so that the size of the gap between tube 627 a and bumper612—the ‘deadband’ in effect—varies i.e. has a non-circular centercutout. The shape may be, for example, oval in shape, with a wider gapin the roll axis vs. the tilt axis, so that aberrations in handleposition are less likely to influence roll. Other cross-sectional bumperconfigurations can also be used, depending, for example, on theapplication of the handle, or the distribution of weight about thecenter of gravity of the stabilizer and payload.

Certain illustrative embodiments of the gimbal/handle assembly haveadditional advantages over prior-art gimbal assemblies related to thetechnique required for initiating and stopping moves such as walking orrunning. Prior-art gimbals are positioned so that the camera/stabilizerstructure hangs slightly bottom heavy from its gimbal's center. Thismakes keeping the apparatus level easier when stopped or moving at aconsistent rate; but when the rate of motion changes, such as whenstarting or stopping a move, the stabilizer acts as a slight pendulumand will slowly tilt in response to the acceleration or deceleration.This must be compensated for by slight counter-pressure on the guidesurfaces (such as 40, 46 shown in FIGS. 1 and 2). Gimbal/handleassemblies described herein may compensates for these accelerations moreintuitively, since an initial acceleration induced by a firmly heldhandle 606 would intuitively or automatically produce the slight angularcorrection required as the handle is pushed ahead. Likewise, whenstopping, the handle would intuitively be held back—both examplesproducing the slight counter-pressure against the resilient tilt/rollbumper that would keep the stabilizer upright or near upright throughoutthe move. In addition, gimbal/handle assemblies described herein may becaused (by manufacture or adjustment), to be in neutral balance in anyor all three mutually perpendicular axes of gimbal rotation, so that nobottom-heaviness remains to cause pendular motion

FIG. 8 is an isometric tilted view of the gimbal assembly of FIGS. 6 and7 with a top cover removed to illustrate the control of the pan axisproduced when handle 606 is rotated to cause resilient pads 611 a,b tocome into contact with paddles 626 a,b. Resilient pads 611 a, b arefixed within flange 625. Paddles 626 a,b are attached to paddle ring610, which is attached to inner race tube 608, and thus remain inrotational registration in the pan axis only with respect to center post609 and its payload. As a result, a panning displacement of handle 606affects the rotation of post 609 with substantially no effect to itstilt or roll orientation.

FIG. 9 is an exploded view of the components of a gimbal assemblyaccording to an illustrative embodiment of the invention. Cameramounting interface 635 is shown at the top of the exploded apparatus.This interface can have a number of different configurations dependingon the imaging device to be attached to it. Portions of spacer 627 areshown at the top and bottom of the apparatus. Spacer 627 surroundscenter post 609 and is fixed with respect to it. Spacer 627 may be asingle piece or be separate components disposed along center post 609.Top cover 615 is disposed over, resilient pads 611 a,b, and can be madeof any material that provides protection to the pads and can beincorporated into the design of the apparatus. Cover 615 will generallyhave a top surface shape similar to that of resilient pads 611, a,b (orof other configurations of pads that can be used in embodiments of theinvention). Pan paddle ring 610 has paddles 626 a,b protruding radiallytherefrom. Each of resilient pads 611 a,b is disposed between paddles626 a,b. Paddle ring 610 surrounds center post 609. Outer handle 606 isshown in FIG. 9 as a cylindrical handle with a flange 625 at the top.Flange 625 accommodates resilient pads 611 a,b, or possibly othercontrol components. This shape has been found to be user-friendly andcomfortable for the operator to grasp while providing the necessarysupport and other functional requirements of the apparatus. Somevariations on the shape are within the scope of the invention. Handle606 has slot 614, which, as described above allows a user to contacttube 608, or other component, depending on the specific configuration ofthe apparatus, to slow or stop motion about the pan axis. Pan bearingretaining ring 616 would generally be disposed within handle 606,together with pan bearing 607, which is mounted to tube 608 as shown inFIG. 6 Two-axis gimbal ring 602, post mounting sleeve 603, and tilt/rollresilient bumper ring 612, are all disposed within handle 606 in thisillustrative embodiment. Further associated with the gimbal are gimbalring bearings 638, a,b and outer race trunnions 640 a,b. A segment ofspacer 627 is shown below resilient bumper ring 612, and would bedisposed within bumper ring 612, when the apparatus is assembled. Centerpost 609 is shown with at least a portion threaded to engage locknut629. Fastening and locating components in addition to the ones describedherein can be implemented within the scope of the invention, providedthey are compatible with the function of the apparatus. It is noted thatas used herein “center post” can be comprised of various sections, thatmay be identified, for example as such components as a pan shaft, gimbalshaft, etc.

FIG. 11 is an isometric view of a gimbal/handle apparatus 800 accordingto an illustrative embodiment of the invention. The upper combinationgimbal/handle portion 802 can be, for example, of a configuration suchis shown in FIG. 6. Spacer 827 is disposed around center post 809, andis held at the desired level by locknut 829, or other suitable means. Aweight support structure 817 is attached to center post 809 and hasmounted to it counterweights 880 and 882. These weights are provided tobalance an imaging device that would be mounted at interface 835 so thatthe center of balance of the entire camera/stabilizer structure wouldpreferably be located just below the pivot center of a two-axis gimbalassembly centered within handle flange 825 of handle 806.

Having counterweights 880,882 centered directly below the gimbal/handleportion of the apparatus can be advantageous compared to thecounterweight supports such as shown in FIG. 1. The gimbal and handle’combination shown in FIG. 1 does not permit the center post constructionof the embodiments shown in FIGS. 6 and 11, for example. When the centerpost runs through the gimbal assembly, adjustment of bottom heavinesscan be accomplished by raising or lowering counterweight supportstructure 817. When counterweight support structure and its associatedweights are symmetrically disposed around the center post longitudinalcenterline balancing axis 823, the bottom heaviness adjustment is madedirectly along centerline balancing axis 823, and therefore, the centerof balance of an imaging device attached to interface 835 can likewiseremain centered along balancing axis 823. Slot 814 provides access tothe outer surface of tube 808, which surrounds resilient bumper 812.This provides the user with a means to stop or slow the relativerotation of tube 808 with respect to handle 806. As previously noted,the term “tube” does not necessarily indicate a circular cross-sectionalshape, nor a uniform cross-section throughout, but rather can havevarious shapes to accommodate the interior components of thegimbal/handle assembly. The “tube” can also have an extension that doesnot extend around to form a full hollow section.

FIG. 12 is an isometric view of a gimbal/handle assembly 900 showing theuse of dashpot-type shock absorbers 922 a,b as resilient control meansinstead of resilient pads. Note that combinations of various controlcomponents can be used. Dashpots 922 a,b are attached to or have springsthat are attached at one end to paddle 910 and at the other end tohandle flange 925. Panning displacement of handle 906 thus biases paddle910 to rotate camera interface 935 via two-axis gimbal assembly 901. Asstated above, any resilient, shock-absorbing, biasing, dampening meansthat are appropriate to the weight and inertial moment of an associated,balanced structure, such as a camera stabilizer, and that can beincorporated into the gimbal/handle design are contemplated within thescope of the invention.

FIG. 13 depicts a balancing support structure 900 with a device 902attached thereto, according to an illustrative embodiment of theinvention. A handle 906 is disposed around a gimbal assembly (notvisible). A center post is connected to the gimbal structure, such as byconfigurations describe above. A counterweight support structure 917with associate counterweights, 980, 982 are positioned at a center postend opposite the device 902.

FIG. 14 depicts a further embodiment of a balancing support structure700 with a device 702, according to an illustrative embodiment of theinvention. This embodiment has a counterweight support structure 717that is foldable. It extends from a, preferably adjustable platform 784and curves below handle 706. Weights 780 can be incorporated to balancethe support structure with the device attached thereto so the center ofgravity is at the approximate center of a gimbal assembly disposedwithin handle 706.

Various embodiments, or portions thereof, of the gimbal/handle assemblydescribed herein can be used with a foldable equipment/devicestabilizing/balancing support system. FIGS. 15A-B depict a foldablebalancing support structure 200 with a device 202 attached thereto in anunfolded and folded configuration, respectively. A handle 206 isdisposed around a gimbal assembly (see for example FIG. 16). Balancingarms or spars 204, 208 extend from a stage 210 and fold toward oneanother, preferably originating and remaining in substantially the sameplane as one another. The pivot ranges of spars 204, 208 are preferablysymmetrical to one another. Additionally, the balancing supportstructure 200 as a whole is substantially symmetrical. The balance armsmay each also be comprised of two or more segments, wherein the segmentsare pivotable, telescoping and/or foldable with respect to one another.The balancing spars may be weighted at the end opposite from the stage.

As shown in FIG. 15B, stage 210 can also fold toward the plane of thespars. In this folded configuration, the support, with the deviceattached can be stored, for example in a holster, and which can beattachable to a belt or other object. The holster may cover the gimbalhandle when the apparatus is folded.

The balancing support system can be designed for a specific device, suchas an iPhone, or other imaging device model, so that little or noadjustment is necessary to balance the structure when unfolded. Thedevice and balancing structure can be a fully integrated, inclusive andpre-balanced apparatus that includes a stabilizer, image-capture deviceand one or more related electronic and/or mechanical components such asplayback equipment, monitors, batteries, stands, connectors, lights,microwave transmitters, etc.

The center of gravity of the apparatus with the device positioned on it,is preferably in the vicinity of the gimbal handle, and most preferablytoward the top of the gimbal apparatus. The arms, for example, cantelescope or fold or swing up and down to accommodate the weight andcenter of gravity to accommodate the difference between an image-capturedevice with and without a case.

FIG. 16 depicts a gimbal/handle assembly according to an illustrativeembodiment of the invention, which can be used with a foldable supportstructure, or other balancing support structure. The handle includes athree-axis gimbal assembly 212. The illustrative example includes agimbal assembly having a cup 214 as the outer gimbal component. A pad216 comprising a resilient material is disposed above gimbal assembly212 so that the degree or acceleration of tilt or roll motion isaffected when there is contact between pad 216 and the gimbal assemblyor other components during rotation of the apparatus. A center post 209extends from or through the center of gimbal assembly 212. Pan bearings230 allow rotation in the pan axis. One or more paddles 226 a,b extendradially from center post 209. Additional resilient component(s) areincorporated and positioned so the paddles 226 a,b will engage (i.e.contact and compress if sufficient force is exerted) them to controlmotion about the center post longitudinal axis, such as when handle 206is rotated.

FIGS. 17A-B depict an integrated stabilizer/device apparatus 100,wherein the device 102 is a camera. Included in this embodiment is amonitor 104 and battery 106. Additional auxiliary components can also beincluded, and the apparatus configured so it is properly balanced withrespect to all included components.

Apparatus 100 has a balance arm 108, which can be folded toward device102, as shown in FIG. 17A-B shows balance arm 108 in an unfoldedposition. The apparatus is designed so that when balance arm 108 isunfolded, the apparatus is automatically balanced, so that the user'smotion will be isolated from motion of the camera. In this embodiment,balance arm 108 has an upper segment 110 and a lower segment 112, whichare pivotable with respect to one another at pivot 114. Upper strut 110is also pivotable at pivot 116 with respect to device 102. The batterycomponent can also be pivotable at pivot 120.

In the illustrative embodiment shown in FIGS. 17A-B, gimbal/handleapparatus 118 is disposed beneath device 102 is foldable underneath it.

Weighted components can be provided at pivot 114, and battery 106 alsoserves as a weight. The design of each integrated apparatus can havesome common components for different device models, such as the gimbalapparatus or balancing arm. To customize the apparatus for a particulardevice model, certain areas will be weighted to achieve the properbalance. This is preferably done at the fabrication site so the unit assold is pre-balanced.

FIGS. 18A-C depict a gimbal and handle assembly 500 according to anillustrative embodiment of the invention. Assembly 500 has a handle 502disposed around a gimbal assembly 506. A device 508, such as alightweight imaging device, is situated on, and stabilized by, thehandle and gimbal assembly 500.

The embodiment shown has two modes of operation. FIG. 18A depicts anextended mode for stabilizing control of small cameras, such as thosemarketed as ‘iPhone’ and ‘flip.’ A telescopic assembly 510, includes ashaft 512, and a cylinder 514 into which shaft 512 can be drawn. Shaft512 has a counterweight 516 attached at a distal end, which is shownextended in an operational mode in FIG. 18A. FIG. 18B is across-sectional drawing of the gimbal and handle assembly 500 whereinthe telescopic shaft 512 is contracted for storage and transport. Inthis mode, counterweight 516 is drawn into handle 502. One or moresprings 511 are mounted in spring mount housing 513 to facilitatemaintaining the assembly in the operational mode wherein the telescopicshaft 512 is in an extended position.

Gimbal assembly 506 includes an inner ring 520 and an outer ring 522 fortwo-axis rotation. Pan bearing assemblies 524 a,b provide another axisof rotation for the gimbal and handle assembly. They are positioned by apan shaft retaining clip 540. Pan bearings 524 a,b allow device 510 torotate with respect to handle 502 about an axis that is in line with thelongitudinal center line of handle 502. In the illustrative embodimentshown, two pan bearing assemblies are shown, but depending on theapplication two are not mandatory. An inner pan bearing component ofeach pan bearing assembly is attached to a pan bearing shaft 526. Panbearings 524 a,b are located high enough to have room below the panbearings for a resilient material component, for example about a ½″length of twisting Sorbothane®. Sorbothane®, a visco-elastic polymer,and more particularly a thermoset, polyether-based, polyurethanematerial, is a good choice of material for many applications of variousembodiments of the invention because of its shock absorption properties,good memory, and vibration isolation and damping characteristics. Othermaterials exhibiting some or all of these characteristics may also besuitable. One or more columns of twisted resilient material can beincorporated into the assembly to control rotational motion.

For the lightweight device applications in particular, pan bearings 524a,b are preferably very small so they have little friction, as there isno or little augmented pan inertia. This design is dependent upon aslittle inertia as possible, so as to eliminate the camera continuing topan through neutral and bouncing back.

FIG. 19A is a cross-sectional of handle 502 showing the handletransparently, according to an illustrative embodiment of the invention.FIG. 19B is a close up of resilient rings 534, 536 and the associatecompression rings 544, 546. FIG. 20 depicts only the resilient membersused for dampening and biasing, with the handle shown transparently.Rotational control mechanisms are provided for pan, tilt and rollmotions, although not all mechanisms need to be implemented. Pan motioncontrol is accomplished by a strip of resilient material 528 having afirst end 528 a attached to pan shaft 526 and a second end 528 battached to main gimbal shaft 532. When there is relative rotation ofthe shafts with respect to one another, strip 528 twists, therebydampening the relative rotation of the shafts and biasing them back to aparticular position or range of positions. Pan resilient component 528can be formed of various resilient materials. Sorbothane® isparticularly suitable as a resilient material in this application. Theterm “strip” used to describe the resilient material is not limited to aflat strip, but can have various cross-sectional profiles.

Two resilient rings 534, 536 provide control of tilt and roll motions.Resilient ring 534 stabilizes gimbal shaft 532 in relation to handle 502and is preferably in substantially constant contact with the shaftsegment 538, as the rig is neutrally balanced, as opposed to slightlybottom heavy. The reason the rig is neutrally balanced is to enable theoperator to tilt or roll the camera and hold it continuously with thesame stabilizing benefits as if it were level. Resilient rings 534, 536are compressed at their edges by compression rings 544, 546, which aresecured to the inside of handle 502. One or more screws 542 drawcompression rings 544, 546 toward one another, thereby compressing theedges of resilient rings 534, 536 and securing them to the apparatus. Inan exemplary embodiment of the invention, four screws uniformlydistributed around the compression rings, result in a substantiallyuniform thickness of the edges of resilient rings 534, 536. In anillustrative embodiment of the invention, the resilient ring edges arecompressed by 50%. An exemplary resilient ring thickness is 1/16 inch ina non-compressed state, and 1/32 inch in a compressed state. Raisedouter edges, such as 548, 550 on compression ring 544, can be providedto protect against over-compressing. The resilient rings may be furthersecured to the apparatus using adhesives.

Resilient ring 536 has a slightly larger center hole, which means thatit is not in contact with shaft segment 538 until a tilt and/or rollmaneuver is made, especially aggressive maneuvers.

Although resilient components 534, 538 are described as “rings” and areshown as relatively flat, they may have non-circular shapes, for exampleif it is desirable to vary the level of dampening when the device isrotated in different directions or to provide a more uniform level ofdampening in all directions, given the devices will generally not besymmetrical in an X-Y plane perpendicular to the devices longitudinalcenter axis. BY way of example, a camera is generally significantlythinner than it is wide. Thicker resilient components than shown andresilient components varying in thickness throughout may also be used toachieve the desired distribution of dampening or other control.

A fully integrated system may provide more options as to weightdistribution. For example, weighted components can be incorporated toincrease the weight closer to the image-capture device component.Various auxiliary components can also advantageously provide differentweight distribution options. Additional options for achieving the weightdistribution with respect to a pivot point of a gimbal apparatus areavailable when the system is fully integrated. Although being fullyintegrated is desirable, devices can still be constructed with theability to add components, and thus would also include the ability toadd weighted components to balance the apparatus. Auxiliary functionalcomponents can also be provided together with specific complimentarybalancing components, and the original structure can be designed toreadily accommodate them. For example, an integrated stabilizer/deviceapparatus may have a pre-configured connection point to accommodate alighting device. The integrated apparatus could also have apre-configured connection point to accommodate an additional weightedcomponent to balance the lighting device. The lighting device and thebalancing component can be sold separately or individually. This allowsfor a user to add auxiliary components while maintaining the balance ofthe stabilizer.

The integrated system may be configured to be foldable to provide a morecompact system when not in use, or to allow the image-capture device tobe more easily used without use of the stabilizer function.

Now that various illustrative embodiments of the invention have beendescribed, some of the important general concepts will be set forth.

A stabilizing controller to balance, support and orient a device ispresented that includes a combination gimbal/handle assembly. The gimbalassembly is positioned at substantially the center of balance as definedwith respect to the stabilizing controller with the device attached. Ahandle is disposed around the gimbal assembly. A center post passesthrough the centerline balancing axis of the gimbal apparatus and thus,longitudinally through the handle. The center post may have alongitudinal balancing axis Z, for example as shown in FIG. 11,designated as 823. We define an X-axis and a Y-axis as being mutuallyperpendicular to the Z-axis. The gimbal/handle assembly with center postprovides motion about each of the X-axis, Y-axis, and Z-axis isolatedfrom the motion of the other axes. The gimbal/handle assembly includes amechanism to control rotational motion about the Z axis of the centerpost. The balancing support structure can also include one or moreresilient components to control motion of the center post when an outergimbal ring is tilted from a plane perpendicular to the center post. Ina simple embodiment of the invention only motion about the Z axis isisolated from the other axes of motion.

The gimbal assembly, may have a post mounting sleeve, an inner gimbalring, and an outer gimbal ring (see for example FIG. 3, parts 302, 303,304, respectively) wherein the post mounting sleeve is disposed aroundthe center post and within the inner gimbal ring and is rotationallyconnected to the inner gimbal ring, the inner gimbal ring is disposedwithin and rotationally connected to the outer gimbal ring, and whereinthe handle is disposed around and is rotational connected to the gimbalassembly.

A pan bearing assembly having an inner race component and an outer racecomponent may be used to rotationally connect the camera assembly andthe handle. The pan bearing assembly may be disposed around the outergimbal ring and within the handle. The pan bearing assembly inner racecomponent may be attached to the outer gimbal ring, and the pan bearingassembly outer race component is attached to the handle.

The outer gimbal ring may extend at least partially downward through thehandle to make it accessibly to an operator so its relative motion withrespect to the handle can be stopped or impeded. The device may be forexample, an opening in the handle through which the operator can accessthe outer gimbal ring with the operator's finger(s). A push buttondevice secured to the handle and engagable with the inner gimbal ringcan also be implemented for this purpose.

The assembly to control rotational motion about the Z axis of the centerpost will generally contain resilient components such as springs or foamor resilient polymer such as Sorbathane®. For example, one or moresprings can be connected at a first end to the handle and a second endto the outer gimbal ring. Another mechanism may comprise a pad ringcontaining pads and paddles wherein the pad ring is non-rotationallyattached to the outer gimbal ring. One or more paddles are attached tothe pad ring and extend radially outward from the pad ring. One or morepads, formed of a resilient material, are attached to the handle anddisposed between the paddles. Between the paddles and the pads are gapsso that when the handle is rotated with respect to the outer gimbalring, the pads contact the paddles, thereby controlling the rotationalmotion about the Z-axis.

To control the motion of the center post when the outer gimbal ring istilted from a plane perpendicular to the center post resilientcomponent(s) comprised of a compressible material can be employed. Theresilient component(s) can be disposed within the portion of the outergimbal ring extending downward and can be positioned to engage with thecenter post when the outer gimbal ring is tilted from a planeperpendicular to the center post. This slows or stops the relativemotion of the center post with respect to the handle, without it beingan abrupt transition.

The balancing support structure may also include counterweight(s)disposed about the center post to position the center of balance of thesupport structure with the device in place below the pivot center of thegimbal assembly. The counterweights are disposed substantiallysymmetrical about the center post and are preferably adjustable. Thecounterweight system can be non-adjustable, such as one designed for aspecific support system and device.

It is noted that, although illustrative embodiments of the inventionhave been described with respect to cameras, the gimbal/handle assemblyand a stabilizer having the gimbal/handle assembly can be used for otherdevices that may require the type of support and stabilizing that ispossible with the invention described herein.

The invention includes gimbaled handles, equipment supports havinggimbal/handle assemblies, equipment supports with gimbal/handleassemblies including the equipment, and methods of using and making anyof the embodiments described herein and their equivalents.

Various embodiments of the invention having different combinations ofelements. The invention is not limited to the specific embodimentsdisclosed, and may include different combinations of the elementsdisclosed and their equivalents.

It will be understood that various changes in the details, materials andarrangement of parts which have been herein described and illustrated inorder to explain the nature of this invention may be made by thoseskilled in the art within the principle and scope of the invention asexpressed in the following claims.

Claimed is:
 1. A stabilizing controller to balance, support and orient adevice, the stabilizing controller comprising: a gimbal assemblypositioned at the center of balance of the stabilizing controller withthe device attached, the gimbal assembly having an outer gimbal ring; ahandle disposed around the gimbal assembly; a center post coincidentwith the centerline balancing axis of the gimbal apparatus and having alongitudinal balancing axis Z, the center post attached such that motionabout each of an X-axis, Y-axis, and the Z-axis, the three of which aremutually perpendicular to one another, is isolated from the motion ofthe other axes; one or more assemblies to control rotational motionabout at least one of the X-axis, Y-axis, and Z-axis; and one or moreresilient components to control motion of the center post when the outergimbal ring is tilted from a plane perpendicular to the center post. 2.The stabilizing controller of claim 1 wherein only motion about the Zaxis is isolated from the other axes of motion.
 3. The stabilizingcontroller of claim of claim 1 wherein: the outer gimbal ring extends atleast partially downward through the handle; the handle has a device bywhich an operator can impede or stop the relative rotation of the handlewith respect to the outer gimbal ring; and wherein the device is anopening in the handle through which the operator can access the outergimbal ring with the operator's finger(s).
 4. The stabilizing controllerof claim 1 wherein the resilient components have a ring shape.
 5. Thestabilizing controller of claim 1 further comprising two additionalresilient components wherein: the first additional resilient componentstabilizes the center post in relation to the handle and is insubstantially constant contact with the handle; and the secondadditional resilient component is disposed around the center post andhas a gap between it and the center post, until a tilt and/or rollmaneuver is made sufficient for the second additional resilientcomponent to contact the center post.
 6. The stabilizing controller ofclaim 1: wherein rotational motion about the Z-axis about the centerpost is controlled by an assembly having: a pad ring non-rotationallyattached to the outer gimbal ring; one or more paddles attached to thepad ring and extending radially outward from the pad ring; one or morepads formed of a resilient material attached to the handle and disposedbetween the paddles, with gaps between the paddles and the pads, suchthat when the handle is rotated with respect to the outer gimbal ring,the pads contact the paddles, thereby controlling the rotational motionabout the Z-axis.
 7. The stabilizing controller of claim 1 wherein theresilient component(s) comprise a resilient material disposed within theextended portion of the outer gimbal ring and positioned to engage withthe center post when the outer gimbal ring is tilted from a planeperpendicular to the center post.
 8. The stabilizing controller of claim1 wherein the resilient component(s) comprise a compressible materialdisposed above the gimbal which controls motion of the gimbal when theouter gimbal ring is tilted from a plane perpendicular to the centerpost.
 9. The stabilizing controller of claim 1 further comprisingcounterweight(s) disposed about the center post to position the centerof balance of the device and stabilizing controller below the pivotcenter of a the gimbal assembly.
 10. The stabilizing controller of claim1 further comprising: one or more foldable balancing arms.
 11. Thestabilizing controller of claim 10 wherein the balancing arms extendsymmetrically from a stage on which the device can be attached, and insubstantially the same plane, and further wherein the stage is foldableto the same or a parallel plane as the balancing arms.
 12. Thestabilizing controller of claim 1 wherein The stabilizing controller ofclaim 1 wherein the gimbal assembly comprises: a post mounting sleeve;an inner gimbal ring; and an outer gimbal ring; wherein the postmounting sleeve is disposed around the center post and within the innergimbal ring and is rotationally connected to the inner gimbal ring; andthe inner gimbal ring is disposed within and rotationally connected tothe outer gimbal ring; and wherein the handle is disposed around and isrotational connected to the gimbal assembly.
 13. A method of balancingand stabilizing a device comprising: attaching a device to a stabilizingcontroller according to claim
 1. 14. The stabilizing controller of claim1 configured for use with an image-capture device weighing in the rangeof about 0.2 lbs to about 1.5 lbs.
 15. A stabilizing controller tobalance, support and orient a device, the stabilizing controllercomprising: a gimbal assembly positioned at the center of balance of thestabilizing controller with the device attached; a handle disposedaround the gimbal assembly; a center post coincident with the centerlinebalancing axis of the gimbal apparatus and having a longitudinalbalancing axis Z, the center post attached such that motion about eachof an X-axis, Y-axis, and the Z-axis, the three of which are mutuallyperpendicular to one another, is isolated from the motion of the otheraxes; and one or more assemblies to control rotational motion about atleast one of the X-axis, Y-axis, and Z-axis; wherein rotational motionabout the Z-axis about the center post is controlled by an assemblyhaving one or more paddles extending radially with respect to the centerpost, and one or more resilient pads into which the paddles come intocontact when the handle is rotated about the longitudinal axis of thecenter post.
 16. A stabilizing controller to balance, support and orienta device, the stabilizing controller comprising: a gimbal assemblypositioned at the center of balance of the stabilizing controller withthe device attached; a handle disposed around the gimbal assembly; thegimbal assembly comprising an outer gimbal ring; a center postcoincident with the centerline balancing axis of the gimbal apparatusand having a longitudinal balancing axis Z, the center post attachedsuch that motion about each of an X-axis, Y-axis, and the Z-axis, thethree of which are mutually perpendicular to one another, is isolatedfrom the motion of the other axes; one or more assemblies to controlrotational motion about at least one of the X-axis, Y-axis, and Z-axis;and wherein rotational motion about the Z-axis about the center post iscontrolled by an assembly having: a pad ring non-rotationally attachedto the outer gimbal ring; one or more paddles attached to the pad ringand extending radially outward from the pad ring; one or more padsformed of a resilient material attached to the handle and disposedbetween the paddles, with gaps between the paddles and the pads, suchthat when the handle is rotated with respect to the outer gimbal ring,the pads contact the paddles, thereby controlling the rotational motionabout the Z-axis.
 17. A stabilizing controller to balance, support andorient a device, the stabilizing controller comprising: a gimbalassembly positioned at the center of balance of the stabilizingcontroller with the device attached, the gimbal assembly comprising anouter gimbal ring; a handle disposed around the gimbal assembly; acenter post coincident with the centerline balancing axis of the gimbalapparatus and having a longitudinal balancing axis Z, the center postattached such that motion about each of an X-axis, Y-axis, and theZ-axis, the three of which are mutually perpendicular to one another, isisolated from the motion of the other axes; one or more assemblies tocontrol rotational motion about at least one of the X-axis, Y-axis, andZ-axis; wherein: the outer gimbal ring extends at least partiallydownward through the handle; the handle has a device by which anoperator can impede or stop the relative rotation of the handle withrespect to the outer gimbal ring; and wherein the device is an openingin the handle through which the operator can access the outer gimbalring with the operator's finger(s).
 18. A stabilizing controllercomprising: a holder to accommodate an image-capture device; a stageattached to the holder at its bottom portion; one or more balancing armspivotable with respect to the stage and disposed in an open position insubstantially the same plane as the holder, and pivotable within thatplane; a gimbal apparatus attached to the stage; the gimbal apparatuscomprising: a gimbal assembly positioned at the center of balance of thestabilizing controller with the device attached; a handle disposedaround the gimbal assembly; a center post coincident with the centerlinebalancing axis of the gimbal apparatus and having a longitudinalbalancing axis Z, the center post attached such that motion about eachof an X-axis, Y-axis, and the Z-axis, the three of which are mutuallyperpendicular to one another, is isolated from the motion of the otheraxes; and one or more assemblies to control rotational motion about atleast one of the X-axis, Y-axis, and Z-axis. the holder foldable towardthe gimbal apparatus and handle in its entirety; the holder and armsfoldable toward one another so they lie substantially flat against oneanother; wherein when the apparatus is unfolded and an image capturedevice is disposed within the holder, the apparatus is substantiallybalanced and motion of a user holding the handle is isolated from theimage capture device.
 19. The stabilizing controller of claim 18comprising two balancing arms wherein the arms' pivot ranges aresymmetrical to one another.
 20. The stabilizing controller of claim 18wherein the stabilizing controller is configured for a specific imagingdevice.
 21. The stabilizing controller of claim 18 further comprisingthe device.
 22. The stabilizing controller of claim 21 wherein thedevice is an imaging device.